Decision-layer

Overview

This is a template: replace, remove, and add where required. Describe here what this package does and what it's meant for in a few sentences.

Keywords: example, package, template

License

The source code is released under a BSD 3-Clause license.

Author: Péter Fankhauser
Affiliation: ANYbotics
Maintainer: Péter Fankhauser, [email protected]

The PACKAGE NAME package has been tested under ROS Indigo and Ubuntu 14.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Publications

If you use this work in an academic context, please cite the following publication(s):

• P. Fankhauser, M. Bloesch, C. Gehring, M. Hutter, and R. Siegwart: PAPER TITLE. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. (PDF)

    @inproceedings{Fankhauser2015,
        author = {Fankhauser, P\'{e}ter and Hutter, Marco},
        booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
        title = {{PAPER TITLE}},
        publisher = {IEEE},
        year = {2015}
    }
  

Installation

Installation from Packages

To install all packages from the this repository as Debian packages use

sudo apt-get install ros-indigo-...

Building from Source

Dependencies

• Robot Operating System (ROS) (middleware for robotics),
• Eigen (linear algebra library)

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/ethz-asl/ros_package_template.git
cd ../
rosdep install --from-paths . --ignore-src
catkin_make

Unit Tests

Run the unit tests with

catkin_make run_tests_ros_package_template

Usage

Describe the quickest way to run this software, for example:

Run the main node with

roslaunch ros_package_template ros_package_template.launch

Config files

Config file folder/set 1

• config_file_1.yaml Shortly explain the content of this config file

Config file folder/set 2

• ...

Launch files

• launch_file_1.launch: shortly explain what is launched (e.g standard simulation, simulation with gdb,...)

  Argument set 1

  • argument_1 Short description (e.g. as commented in launch file). Default: default_value.

  Argument set 2

  • ...

• ...

Nodes

ros_package_template

Reads temperature measurements and computed the average.

Subscribed Topics

• /temperature (sensor_msgs/Temperature)

  The temperature measurements from which the average is computed.

Published Topics

...

Services

• get_average (std_srvs/Trigger)

  Returns information about the current average. For example, you can trigger the computation from the console with

    rosservice call /ros_package_template/get_average
  

Parameters

• subscriber_topic (string, default: "/temperature")

  The name of the input topic.

• cache_size (int, default: 200, min: 0, max: 1000)

  The size of the cache.

NODE_B_NAME

...

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.